SafetyProperties.hpp

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#ifndef ORG_EEROS_SAFETY_SAFETYPROPORTIES_HPP_
#define ORG_EEROS_SAFETY_SAFETYPROPORTIES_HPP_

#include <stdint.h>
#include <vector>
#include <eeros/safety/SafetyLevel.hpp>
#include <eeros/hal/HAL.hpp>

namespace eeros {
    namespace safety {
        
        // Forward declarations
        class SafetySystem;
        
        class SafetyProperties {
            
            friend class SafetySystem;
            
        public:
            SafetyProperties();
            virtual ~SafetyProperties();
            
            void addEventToLevel(int32_t levelId, uint32_t event, int32_t nextLevelId, EventType type);
            void addEventToLevelAndAbove(int32_t levelId, uint32_t event, int32_t nextLevelId, EventType type);
            void addEventToLevelAndBelow(int32_t levelId, uint32_t event, int32_t nextLevelId, EventType type);
            void addEventToAllLevelsBetween(int32_t lowerLevelId, int32_t upperLevelId, uint32_t event, int32_t nextLevelId, EventType type);
            SafetyLevel* entryLevelPtr();
            bool verify();
            
        protected:
            virtual SafetyLevel& level(uint32_t levelId);
            
            std::vector<SafetyLevel> levels;
            std::vector<eeros::hal::PeripheralOutputInterface*> criticalOutputs;
            std::vector<eeros::hal::PeripheralInputInterface*> criticalInputs;
            uint32_t entryLevel;
        };
        
    };
};

#endif // ORG_EEROS_SAFETY_SAFETYPROPORTIES_HPP_